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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-types">Protected 类型</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1_voxel_grid_occlusion_estimation-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::VoxelGridOcclusionEstimation&lt; PointT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_voxel_grid.html" title="VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.">VoxelGrid</a> to estimate occluded space in the scene. The ray traversal algorithm is implemented by the work of 'John Amanatides and Andrew Woo, A Fast Voxel Traversal Algorithm for Ray Tracing'  
 <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="voxel__grid__occlusion__estimation_8h_source.html">voxel_grid_occlusion_estimation.h</a>&gt;</code></p>
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类 pcl::VoxelGridOcclusionEstimation&lt; PointT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1_voxel_grid_occlusion_estimation.png" usemap="#pcl::VoxelGridOcclusionEstimation_3C_20PointT_20_3E_map" alt=""/>
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<area href="classpcl_1_1_voxel_grid.html" title="VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data." alt="pcl::VoxelGrid&lt; PointT &gt;" shape="rect" coords="0,112,263,136"/>
<area href="classpcl_1_1_filter.html" title="Filter represents the base filter class. All filters must inherit from this interface." alt="pcl::Filter&lt; PointT &gt;" shape="rect" coords="0,56,263,80"/>
<area href="classpcl_1_1_p_c_l_base.html" title="PCL base class. Implements methods that are used by most PCL algorithms." alt="pcl::PCLBase&lt; PointT &gt;" shape="rect" coords="0,0,263,24"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:aa4a05cf935084f01556844c507a969aa"><td class="memItemLeft" align="right" valign="top"><a id="aa4a05cf935084f01556844c507a969aa"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#aa4a05cf935084f01556844c507a969aa">VoxelGridOcclusionEstimation</a> ()</td></tr>
<tr class="memdesc:aa4a05cf935084f01556844c507a969aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:aa4a05cf935084f01556844c507a969aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a068ab0617c94013b5ad602f93db26015"><td class="memItemLeft" align="right" valign="top"><a id="a068ab0617c94013b5ad602f93db26015"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a068ab0617c94013b5ad602f93db26015">~VoxelGridOcclusionEstimation</a> ()</td></tr>
<tr class="memdesc:a068ab0617c94013b5ad602f93db26015"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a068ab0617c94013b5ad602f93db26015"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a7aa2a6a31a4c7a8fdaf480b8f44cca"><td class="memItemLeft" align="right" valign="top"><a id="a2a7aa2a6a31a4c7a8fdaf480b8f44cca"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2a7aa2a6a31a4c7a8fdaf480b8f44cca">initializeVoxelGrid</a> ()</td></tr>
<tr class="memdesc:a2a7aa2a6a31a4c7a8fdaf480b8f44cca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the voxel grid, needs to be called first Builts the voxel grid and computes additional values for the ray traversal algorithm. <br /></td></tr>
<tr class="separator:a2a7aa2a6a31a4c7a8fdaf480b8f44cca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada571e881ed4c22607d81fce8df62227"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ada571e881ed4c22607d81fce8df62227">occlusionEstimation</a> (int &amp;out_state, const Eigen::Vector3i &amp;in_target_voxel)</td></tr>
<tr class="memdesc:ada571e881ed4c22607d81fce8df62227"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to a target voxel in (i, j, k) coordinates.  <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ada571e881ed4c22607d81fce8df62227">更多...</a><br /></td></tr>
<tr class="separator:ada571e881ed4c22607d81fce8df62227"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab9caaf4a51888c55c4aecba30fd55695"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ab9caaf4a51888c55c4aecba30fd55695">occlusionEstimation</a> (int &amp;out_state, std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; &amp;out_ray, const Eigen::Vector3i &amp;in_target_voxel)</td></tr>
<tr class="memdesc:ab9caaf4a51888c55c4aecba30fd55695"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to a target voxel in (i, j, k) coordinates. Additionally, this function returns the voxels penetrated of the ray-traversal algorithm till reaching the target voxel.  <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ab9caaf4a51888c55c4aecba30fd55695">更多...</a><br /></td></tr>
<tr class="separator:ab9caaf4a51888c55c4aecba30fd55695"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2c2ba288edaa06131e3a6ba0f8a8bb81"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2c2ba288edaa06131e3a6ba0f8a8bb81">occlusionEstimationAll</a> (std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; &amp;occluded_voxels)</td></tr>
<tr class="memdesc:a2c2ba288edaa06131e3a6ba0f8a8bb81"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes the voxel coordinates (i, j, k) of all occluded voxels in the voxel gird.  <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2c2ba288edaa06131e3a6ba0f8a8bb81">更多...</a><br /></td></tr>
<tr class="separator:a2c2ba288edaa06131e3a6ba0f8a8bb81"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a50cce6b18b40581ff4abb06cc838480d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a50cce6b18b40581ff4abb06cc838480d">getFilteredPointCloud</a> ()</td></tr>
<tr class="memdesc:a50cce6b18b40581ff4abb06cc838480d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the voxel grid filtered point cloud  <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a50cce6b18b40581ff4abb06cc838480d">更多...</a><br /></td></tr>
<tr class="separator:a50cce6b18b40581ff4abb06cc838480d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae9aa43b955a456dd9e1fcfb2da994ff0"><td class="memItemLeft" align="right" valign="top">Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ae9aa43b955a456dd9e1fcfb2da994ff0">getMinBoundCoordinates</a> ()</td></tr>
<tr class="memdesc:ae9aa43b955a456dd9e1fcfb2da994ff0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the minimum bounding of coordinates of the voxel grid (x,y,z).  <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ae9aa43b955a456dd9e1fcfb2da994ff0">更多...</a><br /></td></tr>
<tr class="separator:ae9aa43b955a456dd9e1fcfb2da994ff0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7d2422572a7bbbe08bcb8fa8b64718e2"><td class="memItemLeft" align="right" valign="top">Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a7d2422572a7bbbe08bcb8fa8b64718e2">getMaxBoundCoordinates</a> ()</td></tr>
<tr class="memdesc:a7d2422572a7bbbe08bcb8fa8b64718e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the maximum bounding of coordinates of the voxel grid (x,y,z).  <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a7d2422572a7bbbe08bcb8fa8b64718e2">更多...</a><br /></td></tr>
<tr class="separator:a7d2422572a7bbbe08bcb8fa8b64718e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afa409d3f099e4c71d922f4999887f787"><td class="memItemLeft" align="right" valign="top">Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#afa409d3f099e4c71d922f4999887f787">getCentroidCoordinate</a> (const Eigen::Vector3i &amp;ijk)</td></tr>
<tr class="memdesc:afa409d3f099e4c71d922f4999887f787"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the corresponding centroid (x,y,z) coordinates in the grid of voxel (i,j,k).  <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#afa409d3f099e4c71d922f4999887f787">更多...</a><br /></td></tr>
<tr class="separator:afa409d3f099e4c71d922f4999887f787"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_voxel_grid"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_voxel_grid')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a76a7dabd27331f7348aca3f20397bfbc inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a76a7dabd27331f7348aca3f20397bfbc"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a76a7dabd27331f7348aca3f20397bfbc">VoxelGrid</a> ()</td></tr>
<tr class="memdesc:a76a7dabd27331f7348aca3f20397bfbc inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a76a7dabd27331f7348aca3f20397bfbc inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a233569b974c8eadc98f75e1ca5ef9eab inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a233569b974c8eadc98f75e1ca5ef9eab"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a233569b974c8eadc98f75e1ca5ef9eab">~VoxelGrid</a> ()</td></tr>
<tr class="memdesc:a233569b974c8eadc98f75e1ca5ef9eab inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a233569b974c8eadc98f75e1ca5ef9eab inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa5d7831e665977bdce76ed05bd0005cf inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a> (const Eigen::Vector4f &amp;leaf_size)</td></tr>
<tr class="memdesc:aa5d7831e665977bdce76ed05bd0005cf inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the voxel grid leaf size.  <a href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">更多...</a><br /></td></tr>
<tr class="separator:aa5d7831e665977bdce76ed05bd0005cf inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf15a6f5cc058b790be6557c4fb11022 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#adf15a6f5cc058b790be6557c4fb11022">setLeafSize</a> (float lx, float ly, float lz)</td></tr>
<tr class="memdesc:adf15a6f5cc058b790be6557c4fb11022 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the voxel grid leaf size.  <a href="classpcl_1_1_voxel_grid.html#adf15a6f5cc058b790be6557c4fb11022">更多...</a><br /></td></tr>
<tr class="separator:adf15a6f5cc058b790be6557c4fb11022 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6766e862450a1d8a45301280e156ba6c inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a6766e862450a1d8a45301280e156ba6c"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a6766e862450a1d8a45301280e156ba6c">getLeafSize</a> ()</td></tr>
<tr class="memdesc:a6766e862450a1d8a45301280e156ba6c inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the voxel grid leaf size. <br /></td></tr>
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<tr class="memitem:a1694d46442c66f7071235a8571dd602a inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">setDownsampleAllData</a> (bool downsample)</td></tr>
<tr class="memdesc:a1694d46442c66f7071235a8571dd602a inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if all fields need to be downsampled, or false if just XYZ.  <a href="classpcl_1_1_voxel_grid.html#a1694d46442c66f7071235a8571dd602a">更多...</a><br /></td></tr>
<tr class="separator:a1694d46442c66f7071235a8571dd602a inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af88dc139ffea89a7a400c5c39c087099 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="af88dc139ffea89a7a400c5c39c087099"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#af88dc139ffea89a7a400c5c39c087099">getDownsampleAllData</a> ()</td></tr>
<tr class="memdesc:af88dc139ffea89a7a400c5c39c087099 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ). <br /></td></tr>
<tr class="separator:af88dc139ffea89a7a400c5c39c087099 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaed8373030c2ec0ec7571a7851d37c2c inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#aaed8373030c2ec0ec7571a7851d37c2c">setMinimumPointsNumberPerVoxel</a> (unsigned int min_points_per_voxel)</td></tr>
<tr class="memdesc:aaed8373030c2ec0ec7571a7851d37c2c inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum number of points required for a voxel to be used.  <a href="classpcl_1_1_voxel_grid.html#aaed8373030c2ec0ec7571a7851d37c2c">更多...</a><br /></td></tr>
<tr class="separator:aaed8373030c2ec0ec7571a7851d37c2c inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f16d806b45978fa67c4a69e4d025938 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a7f16d806b45978fa67c4a69e4d025938"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a7f16d806b45978fa67c4a69e4d025938">getMinimumPointsNumberPerVoxel</a> ()</td></tr>
<tr class="memdesc:a7f16d806b45978fa67c4a69e4d025938 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the minimum number of points required for a voxel to be used. <br /></td></tr>
<tr class="separator:a7f16d806b45978fa67c4a69e4d025938 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aabb07bacf03039f40d256b36ee2dd495 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#aabb07bacf03039f40d256b36ee2dd495">setSaveLeafLayout</a> (bool save_leaf_layout)</td></tr>
<tr class="memdesc:aabb07bacf03039f40d256b36ee2dd495 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if leaf layout information needs to be saved for later access.  <a href="classpcl_1_1_voxel_grid.html#aabb07bacf03039f40d256b36ee2dd495">更多...</a><br /></td></tr>
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<tr class="memitem:ae3d7e68ede5c712c036fd2237795f3bb inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="ae3d7e68ede5c712c036fd2237795f3bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#ae3d7e68ede5c712c036fd2237795f3bb">getSaveLeafLayout</a> ()</td></tr>
<tr class="memdesc:ae3d7e68ede5c712c036fd2237795f3bb inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if leaf layout information will to be saved for later access. <br /></td></tr>
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<tr class="memitem:a69443c2cde9e6ee5d5eccfe1e37adccc inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a69443c2cde9e6ee5d5eccfe1e37adccc"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a69443c2cde9e6ee5d5eccfe1e37adccc">getMinBoxCoordinates</a> ()</td></tr>
<tr class="memdesc:a69443c2cde9e6ee5d5eccfe1e37adccc inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum coordinates of the bounding box (after filtering is performed). <br /></td></tr>
<tr class="separator:a69443c2cde9e6ee5d5eccfe1e37adccc inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac344416d7cd23ffbd0732a9e3e6c0ec5 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="ac344416d7cd23ffbd0732a9e3e6c0ec5"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#ac344416d7cd23ffbd0732a9e3e6c0ec5">getMaxBoxCoordinates</a> ()</td></tr>
<tr class="memdesc:ac344416d7cd23ffbd0732a9e3e6c0ec5 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum coordinates of the bounding box (after filtering is performed). <br /></td></tr>
<tr class="separator:ac344416d7cd23ffbd0732a9e3e6c0ec5 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afdd69e5c0290757f44d64c7c69384d17 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="afdd69e5c0290757f44d64c7c69384d17"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#afdd69e5c0290757f44d64c7c69384d17">getNrDivisions</a> ()</td></tr>
<tr class="memdesc:afdd69e5c0290757f44d64c7c69384d17 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of divisions along all 3 axes (after filtering is performed). <br /></td></tr>
<tr class="separator:afdd69e5c0290757f44d64c7c69384d17 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5ac7ed575c8b7fc8a47e774e9cec2065 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a5ac7ed575c8b7fc8a47e774e9cec2065"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a5ac7ed575c8b7fc8a47e774e9cec2065">getDivisionMultiplier</a> ()</td></tr>
<tr class="memdesc:a5ac7ed575c8b7fc8a47e774e9cec2065 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after filtering is performed). <br /></td></tr>
<tr class="separator:a5ac7ed575c8b7fc8a47e774e9cec2065 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0b7ead02de1bfcce1100ff66cbc12998 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a0b7ead02de1bfcce1100ff66cbc12998">getCentroidIndex</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p)</td></tr>
<tr class="memdesc:a0b7ead02de1bfcce1100ff66cbc12998 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the index in the resulting downsampled cloud of the specified point.  <a href="classpcl_1_1_voxel_grid.html#a0b7ead02de1bfcce1100ff66cbc12998">更多...</a><br /></td></tr>
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<tr class="memitem:a28015aa9f1c9329c66ce8a02b727a783 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a28015aa9f1c9329c66ce8a02b727a783">getNeighborCentroidIndices</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;reference_point, const Eigen::MatrixXi &amp;relative_coordinates)</td></tr>
<tr class="memdesc:a28015aa9f1c9329c66ce8a02b727a783 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinates, relative to the grid coordinates of the specified point (or -1 if the cell was empty/out of bounds).  <a href="classpcl_1_1_voxel_grid.html#a28015aa9f1c9329c66ce8a02b727a783">更多...</a><br /></td></tr>
<tr class="separator:a28015aa9f1c9329c66ce8a02b727a783 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ab26a1286bc68d1129e1a62908869ce inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a3ab26a1286bc68d1129e1a62908869ce">getLeafLayout</a> ()</td></tr>
<tr class="memdesc:a3ab26a1286bc68d1129e1a62908869ce inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the layout of the leafs for fast access to cells relative to current position.  <a href="classpcl_1_1_voxel_grid.html#a3ab26a1286bc68d1129e1a62908869ce">更多...</a><br /></td></tr>
<tr class="separator:a3ab26a1286bc68d1129e1a62908869ce inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a900833dc1c7222056de41c358b0534b8 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a900833dc1c7222056de41c358b0534b8">getGridCoordinates</a> (float x, float y, float z)</td></tr>
<tr class="memdesc:a900833dc1c7222056de41c358b0534b8 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).  <a href="classpcl_1_1_voxel_grid.html#a900833dc1c7222056de41c358b0534b8">更多...</a><br /></td></tr>
<tr class="separator:a900833dc1c7222056de41c358b0534b8 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1343f669f040cee74afcf0bdafef68ee inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a1343f669f040cee74afcf0bdafef68ee">getCentroidIndexAt</a> (const Eigen::Vector3i &amp;ijk)</td></tr>
<tr class="memdesc:a1343f669f040cee74afcf0bdafef68ee inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the index in the downsampled cloud corresponding to a given set of coordinates.  <a href="classpcl_1_1_voxel_grid.html#a1343f669f040cee74afcf0bdafef68ee">更多...</a><br /></td></tr>
<tr class="separator:a1343f669f040cee74afcf0bdafef68ee inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a155aa8fce756b002bb1b4b352f8f530f inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a155aa8fce756b002bb1b4b352f8f530f">setFilterFieldName</a> (const std::string &amp;field_name)</td></tr>
<tr class="memdesc:a155aa8fce756b002bb1b4b352f8f530f inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide the name of the field to be used for filtering data. In conjunction with <em>setFilterLimits</em>, points having values outside this interval will be discarded.  <a href="classpcl_1_1_voxel_grid.html#a155aa8fce756b002bb1b4b352f8f530f">更多...</a><br /></td></tr>
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<tr class="memitem:a2b786e2d4ae89d179625278fe1e000fb inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a2b786e2d4ae89d179625278fe1e000fb"></a>
std::string const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a2b786e2d4ae89d179625278fe1e000fb">getFilterFieldName</a> ()</td></tr>
<tr class="memdesc:a2b786e2d4ae89d179625278fe1e000fb inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the name of the field used for filtering. <br /></td></tr>
<tr class="separator:a2b786e2d4ae89d179625278fe1e000fb inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc6d78962d7378aea245381fdb13e65e inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#afc6d78962d7378aea245381fdb13e65e">setFilterLimits</a> (const double &amp;limit_min, const double &amp;limit_max)</td></tr>
<tr class="memdesc:afc6d78962d7378aea245381fdb13e65e inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the field filter limits. All points having field values outside this interval will be discarded.  <a href="classpcl_1_1_voxel_grid.html#afc6d78962d7378aea245381fdb13e65e">更多...</a><br /></td></tr>
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<tr class="memitem:a6d533280865d5fbd991b8b45383b4fb2 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a6d533280865d5fbd991b8b45383b4fb2">getFilterLimits</a> (double &amp;limit_min, double &amp;limit_max)</td></tr>
<tr class="memdesc:a6d533280865d5fbd991b8b45383b4fb2 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the field filter limits (min/max) set by the user. The default values are -FLT_MAX, FLT_MAX.  <a href="classpcl_1_1_voxel_grid.html#a6d533280865d5fbd991b8b45383b4fb2">更多...</a><br /></td></tr>
<tr class="separator:a6d533280865d5fbd991b8b45383b4fb2 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1fc5ee26e1ab45ceb7eb7f28fa7c09ba inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a1fc5ee26e1ab45ceb7eb7f28fa7c09ba">setFilterLimitsNegative</a> (const bool limit_negative)</td></tr>
<tr class="memdesc:a1fc5ee26e1ab45ceb7eb7f28fa7c09ba inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max). Default: false.  <a href="classpcl_1_1_voxel_grid.html#a1fc5ee26e1ab45ceb7eb7f28fa7c09ba">更多...</a><br /></td></tr>
<tr class="separator:a1fc5ee26e1ab45ceb7eb7f28fa7c09ba inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1faafa6a4c3fe10e1e7d83fe353de058 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a1faafa6a4c3fe10e1e7d83fe353de058">getFilterLimitsNegative</a> (bool &amp;limit_negative)</td></tr>
<tr class="memdesc:a1faafa6a4c3fe10e1e7d83fe353de058 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).  <a href="classpcl_1_1_voxel_grid.html#a1faafa6a4c3fe10e1e7d83fe353de058">更多...</a><br /></td></tr>
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<tr class="memitem:a41b9bf8bdb39475a714bf09d0bffa1b2 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a41b9bf8bdb39475a714bf09d0bffa1b2">getFilterLimitsNegative</a> ()</td></tr>
<tr class="memdesc:a41b9bf8bdb39475a714bf09d0bffa1b2 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).  <a href="classpcl_1_1_voxel_grid.html#a41b9bf8bdb39475a714bf09d0bffa1b2">更多...</a><br /></td></tr>
<tr class="separator:a41b9bf8bdb39475a714bf09d0bffa1b2 inherit pub_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">Filter</a> (bool extract_removed_indices=false)</td></tr>
<tr class="memdesc:af31e766a9092a766962f42005c1b84a4 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor.  <a href="classpcl_1_1_filter.html#af31e766a9092a766962f42005c1b84a4">更多...</a><br /></td></tr>
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<tr class="memitem:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a11163e4d01519df900e6144f705f6980"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a11163e4d01519df900e6144f705f6980">~Filter</a> ()</td></tr>
<tr class="memdesc:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a11163e4d01519df900e6144f705f6980 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae451ce8a0981e8589812d4f3b135a335"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae451ce8a0981e8589812d4f3b135a335">getRemovedIndices</a> ()</td></tr>
<tr class="memdesc:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed <br /></td></tr>
<tr class="separator:ae451ce8a0981e8589812d4f3b135a335 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">getRemovedIndices</a> (<a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;pi)</td></tr>
<tr class="memdesc:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the point indices being removed  <a href="classpcl_1_1_filter.html#add67775d121c2dd536d3306ef447431e">更多...</a><br /></td></tr>
<tr class="separator:add67775d121c2dd536d3306ef447431e inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calls the filtering method and returns the filtered dataset in output.  <a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">更多...</a><br /></td></tr>
<tr class="separator:a17115897ca28f6b12950d023958aa641 inherit pub_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
<tr class="separator:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected 类型</h2></td></tr>
<tr class="memitem:ab570d12d662e2adf831dec2e82dcd167"><td class="memItemLeft" align="right" valign="top"><a id="ab570d12d662e2adf831dec2e82dcd167"></a>
typedef <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:ab570d12d662e2adf831dec2e82dcd167"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4324960b944104e4cd4af77e6a8bedf0"><td class="memItemLeft" align="right" valign="top"><a id="a4324960b944104e4cd4af77e6a8bedf0"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:a4324960b944104e4cd4af77e6a8bedf0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a37ad4126af8218de0a6b7b7144fd9292"><td class="memItemLeft" align="right" valign="top"><a id="a37ad4126af8218de0a6b7b7144fd9292"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:a37ad4126af8218de0a6b7b7144fd9292"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_types_classpcl_1_1_voxel_grid"><td colspan="2" onclick="javascript:toggleInherit('pro_types_classpcl_1_1_voxel_grid')"><img src="closed.png" alt="-"/>&#160;Protected 类型 继承自 <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae5e0ee1b9f1027f14817c56bdebcab72 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="ae5e0ee1b9f1027f14817c56bdebcab72"></a>
typedef <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:ae5e0ee1b9f1027f14817c56bdebcab72 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6e35907a5d4d06c1c65078ae0b13d7e5 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a6e35907a5d4d06c1c65078ae0b13d7e5"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:a6e35907a5d4d06c1c65078ae0b13d7e5 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a23ddd643d89dc91d17b23de0b856b706 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a23ddd643d89dc91d17b23de0b856b706"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:a23ddd643d89dc91d17b23de0b856b706 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a604be24e2b5a139f47741f78bb329b8b inherit pro_types_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a604be24e2b5a139f47741f78bb329b8b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_voxel_grid.html">VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a604be24e2b5a139f47741f78bb329b8b inherit pro_types_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7c090164ea30006051c2d2f284298579 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a7c090164ea30006051c2d2f284298579"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_voxel_grid.html">VoxelGrid</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a7c090164ea30006051c2d2f284298579 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a342a8c748e751186f42fcc874f80c586 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a342a8c748e751186f42fcc874f80c586"></a>
typedef <a class="el" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::type&#160;</td><td class="memItemRight" valign="bottom"><b>FieldList</b></td></tr>
<tr class="separator:a342a8c748e751186f42fcc874f80c586 inherit pro_types_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a73e48f89db0b088caa22a1935ec15ecf"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a73e48f89db0b088caa22a1935ec15ecf">rayBoxIntersection</a> (const Eigen::Vector4f &amp;origin, const Eigen::Vector4f &amp;direction)</td></tr>
<tr class="memdesc:a73e48f89db0b088caa22a1935ec15ecf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the scaling value (tmin) were the ray intersects with the voxel grid bounding box. (p_entry = origin + tmin * orientation)  <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a73e48f89db0b088caa22a1935ec15ecf">更多...</a><br /></td></tr>
<tr class="separator:a73e48f89db0b088caa22a1935ec15ecf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a809a45f306299a20ae44a5cc6e01aff5"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">rayTraversal</a> (const Eigen::Vector3i &amp;target_voxel, const Eigen::Vector4f &amp;origin, const Eigen::Vector4f &amp;direction, const float t_min)</td></tr>
<tr class="memdesc:a809a45f306299a20ae44a5cc6e01aff5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the state of the target voxel (0 = visible, 1 = occupied) unsing a ray traversal algorithm.  <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">更多...</a><br /></td></tr>
<tr class="separator:a809a45f306299a20ae44a5cc6e01aff5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a04dc2590897e65a6412eb9bda5eeb3d3"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a04dc2590897e65a6412eb9bda5eeb3d3">rayTraversal</a> (std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; &amp;out_ray, const Eigen::Vector3i &amp;target_voxel, const Eigen::Vector4f &amp;origin, const Eigen::Vector4f &amp;direction, const float t_min)</td></tr>
<tr class="memdesc:a04dc2590897e65a6412eb9bda5eeb3d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the state of the target voxel (0 = visible, 1 = occupied) and the voxels penetrated by the ray unsing a ray traversal algorithm.  <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a04dc2590897e65a6412eb9bda5eeb3d3">更多...</a><br /></td></tr>
<tr class="separator:a04dc2590897e65a6412eb9bda5eeb3d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3fa600274aee939eba0e317dcbd6d6cf"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a3fa600274aee939eba0e317dcbd6d6cf">round</a> (float d)</td></tr>
<tr class="memdesc:a3fa600274aee939eba0e317dcbd6d6cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a rounded value.  <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a3fa600274aee939eba0e317dcbd6d6cf">更多...</a><br /></td></tr>
<tr class="separator:a3fa600274aee939eba0e317dcbd6d6cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4cf0240b7785108db75da2ad64523c2e"><td class="memItemLeft" align="right" valign="top">Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a4cf0240b7785108db75da2ad64523c2e">getGridCoordinatesRound</a> (float x, float y, float z)</td></tr>
<tr class="memdesc:a4cf0240b7785108db75da2ad64523c2e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).  <a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a4cf0240b7785108db75da2ad64523c2e">更多...</a><br /></td></tr>
<tr class="separator:a4cf0240b7785108db75da2ad64523c2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_voxel_grid"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_voxel_grid')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ac5e7d3bb2b3e7c05dbc45ba44a443297 inherit pro_methods_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#ac5e7d3bb2b3e7c05dbc45ba44a443297">applyFilter</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</td></tr>
<tr class="memdesc:ac5e7d3bb2b3e7c05dbc45ba44a443297 inherit pro_methods_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downsample a Point <a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> using a voxelized grid approach  <a href="classpcl_1_1_voxel_grid.html#ac5e7d3bb2b3e7c05dbc45ba44a443297">更多...</a><br /></td></tr>
<tr class="separator:ac5e7d3bb2b3e7c05dbc45ba44a443297 inherit pro_methods_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a71040236d2c11da75b715d6d6bf5ba9d"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a71040236d2c11da75b715d6d6bf5ba9d">getClassName</a> () const</td></tr>
<tr class="memdesc:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:a71040236d2c11da75b715d6d6bf5ba9d inherit pro_methods_classpcl_1_1_filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a0dbf87852093a9a9726d8cf36d5e3807"><td class="memItemLeft" align="right" valign="top"><a id="a0dbf87852093a9a9726d8cf36d5e3807"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>initialized_</b></td></tr>
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<tr class="memitem:ad76aac40dbdd19f16d082721c18029da"><td class="memItemLeft" align="right" valign="top"><a id="ad76aac40dbdd19f16d082721c18029da"></a>
Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><b>sensor_origin_</b></td></tr>
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<tr class="memitem:a2df831418b7d95a2523dd5975a9215bd"><td class="memItemLeft" align="right" valign="top"><a id="a2df831418b7d95a2523dd5975a9215bd"></a>
Eigen::Quaternionf&#160;</td><td class="memItemRight" valign="bottom"><b>sensor_orientation_</b></td></tr>
<tr class="separator:a2df831418b7d95a2523dd5975a9215bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9ce235b745b6d2c605c2f21d50d792ce"><td class="memItemLeft" align="right" valign="top"><a id="a9ce235b745b6d2c605c2f21d50d792ce"></a>
Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><b>b_min_</b></td></tr>
<tr class="separator:a9ce235b745b6d2c605c2f21d50d792ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2dbc77bbb8890f18d0949a81ed09e7c9"><td class="memItemLeft" align="right" valign="top"><a id="a2dbc77bbb8890f18d0949a81ed09e7c9"></a>
Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><b>b_max_</b></td></tr>
<tr class="separator:a2dbc77bbb8890f18d0949a81ed09e7c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac83985e8c93aacb8de062db1b277724b"><td class="memItemLeft" align="right" valign="top"><a id="ac83985e8c93aacb8de062db1b277724b"></a>
<a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a>&#160;</td><td class="memItemRight" valign="bottom"><b>filtered_cloud_</b></td></tr>
<tr class="separator:ac83985e8c93aacb8de062db1b277724b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_voxel_grid"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_voxel_grid')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ad6e7aa7d90c1b75ab43d38c48dcff799 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="ad6e7aa7d90c1b75ab43d38c48dcff799"></a>
Eigen::Vector4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a></td></tr>
<tr class="memdesc:ad6e7aa7d90c1b75ab43d38c48dcff799 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">The size of a leaf. <br /></td></tr>
<tr class="separator:ad6e7aa7d90c1b75ab43d38c48dcff799 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aed2cf27b47ad2059be72e03326d4ff00 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="aed2cf27b47ad2059be72e03326d4ff00"></a>
Eigen::Array4f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a></td></tr>
<tr class="memdesc:aed2cf27b47ad2059be72e03326d4ff00 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons. <br /></td></tr>
<tr class="separator:aed2cf27b47ad2059be72e03326d4ff00 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1789763b2f3b17cce937b9902cfb6175 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a1789763b2f3b17cce937b9902cfb6175"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a1789763b2f3b17cce937b9902cfb6175">downsample_all_data_</a></td></tr>
<tr class="memdesc:a1789763b2f3b17cce937b9902cfb6175 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if all fields need to be downsampled, or false if just XYZ. <br /></td></tr>
<tr class="separator:a1789763b2f3b17cce937b9902cfb6175 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a73e0f889875e09c1990ec088af6c82c4 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a73e0f889875e09c1990ec088af6c82c4"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a73e0f889875e09c1990ec088af6c82c4">save_leaf_layout_</a></td></tr>
<tr class="memdesc:a73e0f889875e09c1990ec088af6c82c4 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if leaf layout information needs to be saved in <em>leaf_layout_</em>. <br /></td></tr>
<tr class="separator:a73e0f889875e09c1990ec088af6c82c4 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33222904207e6304aa3fbd2b31a9ac84 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a33222904207e6304aa3fbd2b31a9ac84"></a>
std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a33222904207e6304aa3fbd2b31a9ac84">leaf_layout_</a></td></tr>
<tr class="memdesc:a33222904207e6304aa3fbd2b31a9ac84 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">The leaf layout information for fast access to cells relative to current position <br /></td></tr>
<tr class="separator:a33222904207e6304aa3fbd2b31a9ac84 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa920d3e9fa0d03643423ade34f6ec986 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="aa920d3e9fa0d03643423ade34f6ec986"></a>
Eigen::Vector4i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a></td></tr>
<tr class="memdesc:aa920d3e9fa0d03643423ade34f6ec986 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum and maximum bin coordinates, the number of divisions, and the division multiplier. <br /></td></tr>
<tr class="separator:aa920d3e9fa0d03643423ade34f6ec986 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a24480b0cc73084e2d62fdce34dd5fd03 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a24480b0cc73084e2d62fdce34dd5fd03"></a>
Eigen::Vector4i&#160;</td><td class="memItemRight" valign="bottom"><b>max_b_</b></td></tr>
<tr class="separator:a24480b0cc73084e2d62fdce34dd5fd03 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb401929b5b3578a402a5fdcc5879feb inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="afb401929b5b3578a402a5fdcc5879feb"></a>
Eigen::Vector4i&#160;</td><td class="memItemRight" valign="bottom"><b>div_b_</b></td></tr>
<tr class="separator:afb401929b5b3578a402a5fdcc5879feb inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a37087b1124f5c9617f1f6ac5a0b60203 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a37087b1124f5c9617f1f6ac5a0b60203"></a>
Eigen::Vector4i&#160;</td><td class="memItemRight" valign="bottom"><b>divb_mul_</b></td></tr>
<tr class="separator:a37087b1124f5c9617f1f6ac5a0b60203 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac7af4d73e7dd960d1d7c725a6f3fe9bc inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="ac7af4d73e7dd960d1d7c725a6f3fe9bc"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#ac7af4d73e7dd960d1d7c725a6f3fe9bc">filter_field_name_</a></td></tr>
<tr class="memdesc:ac7af4d73e7dd960d1d7c725a6f3fe9bc inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">The desired user filter field name. <br /></td></tr>
<tr class="separator:ac7af4d73e7dd960d1d7c725a6f3fe9bc inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad8929163e5e80d86881a9ad123fa468e inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="ad8929163e5e80d86881a9ad123fa468e"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#ad8929163e5e80d86881a9ad123fa468e">filter_limit_min_</a></td></tr>
<tr class="memdesc:ad8929163e5e80d86881a9ad123fa468e inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum allowed filter value a point will be considered from. <br /></td></tr>
<tr class="separator:ad8929163e5e80d86881a9ad123fa468e inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaec915dae701cca04f4598a818b7a02d inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="aaec915dae701cca04f4598a818b7a02d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#aaec915dae701cca04f4598a818b7a02d">filter_limit_max_</a></td></tr>
<tr class="memdesc:aaec915dae701cca04f4598a818b7a02d inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum allowed filter value a point will be considered from. <br /></td></tr>
<tr class="separator:aaec915dae701cca04f4598a818b7a02d inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8115c47d971f0af7a11c4148741f1171 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a8115c47d971f0af7a11c4148741f1171"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a8115c47d971f0af7a11c4148741f1171">filter_limit_negative_</a></td></tr>
<tr class="memdesc:a8115c47d971f0af7a11c4148741f1171 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the data outside (<em>filter_limit_min_</em>;<em>filter_limit_max_</em>). Default: false. <br /></td></tr>
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<tr class="memitem:a24a0c685d3d211e998e927766553b8e3 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memItemLeft" align="right" valign="top"><a id="a24a0c685d3d211e998e927766553b8e3"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_voxel_grid.html#a24a0c685d3d211e998e927766553b8e3">min_points_per_voxel_</a></td></tr>
<tr class="memdesc:a24a0c685d3d211e998e927766553b8e3 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum number of points per voxel for the centroid to be computed <br /></td></tr>
<tr class="separator:a24a0c685d3d211e998e927766553b8e3 inherit pro_attribs_classpcl_1_1_voxel_grid"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="ae83ccb695ed263cfc64c224210a31936"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ae83ccb695ed263cfc64c224210a31936">removed_indices_</a></td></tr>
<tr class="memdesc:ae83ccb695ed263cfc64c224210a31936 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the points that are removed <br /></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a></td></tr>
<tr class="memdesc:ad700c7ab56dc82ad8811b87e9f793751 inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">The filter name. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_filter.html#a77b899631add791703f5d615f085bede">extract_removed_indices_</a></td></tr>
<tr class="memdesc:a77b899631add791703f5d615f085bede inherit pro_attribs_classpcl_1_1_filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if we want to return the indices of the removed points. <br /></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
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<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_filter"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_filter')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_filter.html">pcl::Filter&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a719a1ef5a8fc3b7f4a651a8bae51571b inherit pub_types_classpcl_1_1_filter"><td class="memItemLeft" align="right" valign="top"><a id="a719a1ef5a8fc3b7f4a651a8bae51571b"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_filter.html">Filter</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT&gt;<br />
class pcl::VoxelGridOcclusionEstimation&lt; PointT &gt;</h3>

<p><a class="el" href="classpcl_1_1_voxel_grid.html" title="VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.">VoxelGrid</a> to estimate occluded space in the scene. The ray traversal algorithm is implemented by the work of 'John Amanatides and Andrew Woo, A Fast Voxel Traversal Algorithm for Ray Tracing' </p>
<dl class="section author"><dt>作者</dt><dd>Christian Potthast </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="afa409d3f099e4c71d922f4999887f787"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afa409d3f099e4c71d922f4999887f787">&#9670;&nbsp;</a></span>getCentroidCoordinate()</h2>

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<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">Eigen::Vector4f <a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getCentroidCoordinate </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3i &amp;&#160;</td>
          <td class="paramname"><em>ijk</em></td><td>)</td>
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<p>Returns the corresponding centroid (x,y,z) coordinates in the grid of voxel (i,j,k). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">ijk</td><td>the coordinate (i, j, k) of the voxel </td></tr>
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<dl class="section return"><dt>返回</dt><dd>the (x,y,z) coordinate of the voxel centroid </dd></dl>
<div class="fragment"><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordtype">int</span> i,j,k;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        i = ((b_min_[0] &lt; 0) ? (abs (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0]) + ijk[0]) : (ijk[0] - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0]));</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        j = ((b_min_[1] &lt; 0) ? (abs (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1]) + ijk[1]) : (ijk[1] - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1]));</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        k = ((b_min_[2] &lt; 0) ? (abs (<a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2]) + ijk[2]) : (ijk[2] - <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2]));</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        Eigen::Vector4f xyz;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        xyz[0] = b_min_[0] + (<a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[0] * 0.5f) + (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (i) * <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[0]);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        xyz[1] = b_min_[1] + (<a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[1] * 0.5f) + (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (j) * <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[1]);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        xyz[2] = b_min_[2] + (<a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[2] * 0.5f) + (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (k) * <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[2]);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        xyz[3] = 0;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keywordflow">return</span> xyz;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa920d3e9fa0d03643423ade34f6ec986"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">pcl::VoxelGrid::min_b_</a></div><div class="ttdeci">Eigen::Vector4i min_b_</div><div class="ttdoc">The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:472</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_ad6e7aa7d90c1b75ab43d38c48dcff799"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">pcl::VoxelGrid::leaf_size_</a></div><div class="ttdeci">Eigen::Vector4f leaf_size_</div><div class="ttdoc">The size of a leaf.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:457</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a50cce6b18b40581ff4abb06cc838480d">&#9670;&nbsp;</a></span>getFilteredPointCloud()</h2>

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<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloud</a> <a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getFilteredPointCloud </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Returns the voxel grid filtered point cloud </p>
<dl class="section return"><dt>返回</dt><dd>The voxel grid filtered point cloud </dd></dl>
<div class="fragment"><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;{ <span class="keywordflow">return</span> filtered_cloud_; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a4cf0240b7785108db75da2ad64523c2e">&#9670;&nbsp;</a></span>getGridCoordinatesRound()</h2>

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          <td class="memname">Eigen::Vector3i <a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getGridCoordinatesRound </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>y</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>z</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td>the X point coordinate to get the (i, j, k) index at </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">y</td><td>the Y point coordinate to get the (i, j, k) index at </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">z</td><td>the Z point coordinate to get the (i, j, k) index at </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keywordflow">return</span> Eigen::Vector3i (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a3fa600274aee939eba0e317dcbd6d6cf">round</a> (x * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[0])), </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                                <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a3fa600274aee939eba0e317dcbd6d6cf">round</a> (y * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[1])), </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                                <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a3fa600274aee939eba0e317dcbd6d6cf">round</a> (z * <a class="code" href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">inverse_leaf_size_</a>[2])));</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aed2cf27b47ad2059be72e03326d4ff00"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aed2cf27b47ad2059be72e03326d4ff00">pcl::VoxelGrid::inverse_leaf_size_</a></div><div class="ttdeci">Eigen::Array4f inverse_leaf_size_</div><div class="ttdoc">Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:460</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a3fa600274aee939eba0e317dcbd6d6cf"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a3fa600274aee939eba0e317dcbd6d6cf">pcl::VoxelGridOcclusionEstimation::round</a></div><div class="ttdeci">float round(float d)</div><div class="ttdoc">Returns a rounded value.</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.h:216</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a7d2422572a7bbbe08bcb8fa8b64718e2">&#9670;&nbsp;</a></span>getMaxBoundCoordinates()</h2>

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          <td class="memname">Eigen::Vector3f <a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getMaxBoundCoordinates </td>
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          <td class="paramname"></td><td>)</td>
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<p>Returns the maximum bounding of coordinates of the voxel grid (x,y,z). </p>
<dl class="section return"><dt>返回</dt><dd>the maximum coordinates (x,y,z) </dd></dl>
<div class="fragment"><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;{ <span class="keywordflow">return</span> (b_max_.head&lt;3&gt; ()); }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ae9aa43b955a456dd9e1fcfb2da994ff0">&#9670;&nbsp;</a></span>getMinBoundCoordinates()</h2>

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          <td class="memname">Eigen::Vector3f <a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::getMinBoundCoordinates </td>
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<p>Returns the minimum bounding of coordinates of the voxel grid (x,y,z). </p>
<dl class="section return"><dt>返回</dt><dd>the minimum coordinates (x,y,z) </dd></dl>
<div class="fragment"><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;{ <span class="keywordflow">return</span> (b_min_.head&lt;3&gt; ()); }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ada571e881ed4c22607d81fce8df62227">&#9670;&nbsp;</a></span>occlusionEstimation() <span class="overload">[1/2]</span></h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::occlusionEstimation </td>
          <td>(</td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>out_state</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3i &amp;&#160;</td>
          <td class="paramname"><em>in_target_voxel</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
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<p>Computes the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to a target voxel in (i, j, k) coordinates. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">out_state</td><td>The state of the voxel. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">in_target_voxel</td><td>The target voxel coordinate (i, j, k) of the voxel. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0 upon success and -1 if an error occurs </dd></dl>
<div class="fragment"><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;{</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">if</span> (!initialized_)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Voxel grid not initialized; call initializeVoxelGrid () first! \n&quot;</span>);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="comment">// estimate direction to target voxel</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  Eigen::Vector4f p = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#afa409d3f099e4c71d922f4999887f787">getCentroidCoordinate</a> (in_target_voxel);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  Eigen::Vector4f direction = p - sensor_origin_;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  direction.normalize ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="comment">// estimate entry point into the voxel grid</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">float</span> tmin = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a73e48f89db0b088caa22a1935ec15ecf">rayBoxIntersection</a> (sensor_origin_, direction);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordflow">if</span> (tmin == -1)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;The ray does not intersect with the bounding box \n&quot;</span>);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="comment">// ray traversal</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  out_state = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">rayTraversal</a> (in_target_voxel, sensor_origin_, direction, tmin);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a73e48f89db0b088caa22a1935ec15ecf"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a73e48f89db0b088caa22a1935ec15ecf">pcl::VoxelGridOcclusionEstimation::rayBoxIntersection</a></div><div class="ttdeci">float rayBoxIntersection(const Eigen::Vector4f &amp;origin, const Eigen::Vector4f &amp;direction)</div><div class="ttdoc">Returns the scaling value (tmin) were the ray intersects with the voxel grid bounding box....</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.hpp:176</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a809a45f306299a20ae44a5cc6e01aff5"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">pcl::VoxelGridOcclusionEstimation::rayTraversal</a></div><div class="ttdeci">int rayTraversal(const Eigen::Vector3i &amp;target_voxel, const Eigen::Vector4f &amp;origin, const Eigen::Vector4f &amp;direction, const float t_min)</div><div class="ttdoc">Returns the state of the target voxel (0 = visible, 1 = occupied) unsing a ray traversal algorithm.</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.hpp:243</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_afa409d3f099e4c71d922f4999887f787"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#afa409d3f099e4c71d922f4999887f787">pcl::VoxelGridOcclusionEstimation::getCentroidCoordinate</a></div><div class="ttdeci">Eigen::Vector4f getCentroidCoordinate(const Eigen::Vector3i &amp;ijk)</div><div class="ttdoc">Returns the corresponding centroid (x,y,z) coordinates in the grid of voxel (i,j,k).</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.h:148</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab9caaf4a51888c55c4aecba30fd55695">&#9670;&nbsp;</a></span>occlusionEstimation() <span class="overload">[2/2]</span></h2>

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          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::occlusionEstimation </td>
          <td>(</td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>out_state</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>out_ray</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3i &amp;&#160;</td>
          <td class="paramname"><em>in_target_voxel</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
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<p>Computes the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to a target voxel in (i, j, k) coordinates. Additionally, this function returns the voxels penetrated of the ray-traversal algorithm till reaching the target voxel. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">out_state</td><td>The state of the voxel. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">out_ray</td><td>The voxels penetrated of the ray-traversal algorithm. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">in_target_voxel</td><td>The target voxel coordinate (i, j, k) of the voxel. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0 upon success and -1 if an error occurs </dd></dl>
<div class="fragment"><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;{</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keywordflow">if</span> (!initialized_)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Voxel grid not initialized; call initializeVoxelGrid () first! \n&quot;</span>);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="comment">// estimate direction to target voxel</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  Eigen::Vector4f p = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#afa409d3f099e4c71d922f4999887f787">getCentroidCoordinate</a> (in_target_voxel);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  Eigen::Vector4f direction = p - sensor_origin_;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  direction.normalize ();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="comment">// estimate entry point into the voxel grid</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordtype">float</span> tmin = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a73e48f89db0b088caa22a1935ec15ecf">rayBoxIntersection</a> (sensor_origin_, direction);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordflow">if</span> (tmin == -1)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;The ray does not intersect with the bounding box \n&quot;</span>);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="comment">// ray traversal</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  out_state = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">rayTraversal</a> (out_ray, in_target_voxel, sensor_origin_, direction, tmin);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2c2ba288edaa06131e3a6ba0f8a8bb81">&#9670;&nbsp;</a></span>occlusionEstimationAll()</h2>

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          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::occlusionEstimationAll </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>occluded_voxels</em></td><td>)</td>
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      </table>
</div><div class="memdoc">

<p>Computes the voxel coordinates (i, j, k) of all occluded voxels in the voxel gird. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">occluded_voxels</td><td>the coordinates (i, j, k) of all occluded voxels </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0 upon success and -1 if an error occurs </dd></dl>
<div class="fragment"><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;{</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordflow">if</span> (!initialized_)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Voxel grid not initialized; call initializeVoxelGrid () first! \n&quot;</span>);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="comment">// reserve space for the ray vector</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordtype">int</span> reserve_size = div_b_[0] * div_b_[1] * div_b_[2];</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  occluded_voxels.reserve (reserve_size);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="comment">// iterate over the entire voxel grid</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> kk = <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>.z (); kk &lt;= max_b_.z (); ++kk)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> jj = <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>.y (); jj &lt;= max_b_.y (); ++jj)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ii = <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>.x (); ii &lt;= max_b_.x (); ++ii)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        Eigen::Vector3i ijk (ii, jj, kk);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="comment">// process all free voxels</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordtype">int</span> index = this-&gt;<a class="code" href="classpcl_1_1_voxel_grid.html#a1343f669f040cee74afcf0bdafef68ee">getCentroidIndexAt</a> (ijk);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordflow">if</span> (index == -1)</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;          <span class="comment">// estimate direction to target voxel</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          Eigen::Vector4f p = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#afa409d3f099e4c71d922f4999887f787">getCentroidCoordinate</a> (ijk);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          Eigen::Vector4f direction = p - sensor_origin_;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;          direction.normalize ();</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          <span class="comment">// estimate entry point into the voxel grid</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          <span class="keywordtype">float</span> tmin = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a73e48f89db0b088caa22a1935ec15ecf">rayBoxIntersection</a> (sensor_origin_, direction);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          <span class="comment">// ray traversal</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          <span class="keywordtype">int</span> state = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">rayTraversal</a> (ijk, sensor_origin_, direction, tmin);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          <span class="comment">// if voxel is occluded</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          <span class="keywordflow">if</span> (state == 1)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            occluded_voxels.push_back (ijk);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a1343f669f040cee74afcf0bdafef68ee"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a1343f669f040cee74afcf0bdafef68ee">pcl::VoxelGrid::getCentroidIndexAt</a></div><div class="ttdeci">int getCentroidIndexAt(const Eigen::Vector3i &amp;ijk)</div><div class="ttdoc">Returns the index in the downsampled cloud corresponding to a given set of coordinates.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:376</div></div>
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<a id="a73e48f89db0b088caa22a1935ec15ecf"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a73e48f89db0b088caa22a1935ec15ecf">&#9670;&nbsp;</a></span>rayBoxIntersection()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::rayBoxIntersection </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>origin</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>direction</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Returns the scaling value (tmin) were the ray intersects with the voxel grid bounding box. (p_entry = origin + tmin * orientation) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">origin</td><td>The sensor origin </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">direction</td><td>The sensor orientation </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>the scaling value </dd></dl>
<div class="fragment"><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;{</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordtype">float</span> tmin, tmax, tymin, tymax, tzmin, tzmax;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="keywordflow">if</span> (direction[0] &gt;= 0)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    tmin = (b_min_[0] - origin[0]) / direction[0];</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    tmax = (b_max_[0] - origin[0]) / direction[0];</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    tmin = (b_max_[0] - origin[0]) / direction[0];</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    tmax = (b_min_[0] - origin[0]) / direction[0];</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordflow">if</span> (direction[1] &gt;= 0)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    tymin = (b_min_[1] - origin[1]) / direction[1];</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    tymax = (b_max_[1] - origin[1]) / direction[1]; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    tymin = (b_max_[1] - origin[1]) / direction[1];</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    tymax = (b_min_[1] - origin[1]) / direction[1];</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="keywordflow">if</span> ((tmin &gt; tymax) || (tymin &gt; tmax))</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;no intersection with the bounding box \n&quot;</span>);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    tmin = -1.0f;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordflow">return</span> tmin;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keywordflow">if</span> (tymin &gt; tmin)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    tmin = tymin;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">if</span> (tymax &lt; tmax)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    tmax = tymax;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="keywordflow">if</span> (direction[2] &gt;= 0)</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    tzmin = (b_min_[2] - origin[2]) / direction[2];</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    tzmax = (b_max_[2] - origin[2]) / direction[2];</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    tzmin = (b_max_[2] - origin[2]) / direction[2];</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    tzmax = (b_min_[2] - origin[2]) / direction[2];</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordflow">if</span> ((tmin &gt; tzmax) || (tzmin &gt; tmax))</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  {</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;no intersection with the bounding box \n&quot;</span>);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    tmin = -1.0f;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordflow">return</span> tmin;       </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keywordflow">if</span> (tzmin &gt; tmin)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    tmin = tzmin;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keywordflow">if</span> (tzmax &lt; tmax)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    tmax = tzmax;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keywordflow">return</span> tmin;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a809a45f306299a20ae44a5cc6e01aff5">&#9670;&nbsp;</a></span>rayTraversal() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::rayTraversal </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3i &amp;&#160;</td>
          <td class="paramname"><em>target_voxel</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>origin</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>direction</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>t_min</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Returns the state of the target voxel (0 = visible, 1 = occupied) unsing a ray traversal algorithm. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">target_voxel</td><td>The target voxel in the voxel grid with coordinate (i, j, k). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">origin</td><td>The sensor origin. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">direction</td><td>The sensor orientation </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">t_min</td><td>The scaling value (tmin). </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>The estimated voxel state. </dd></dl>
<div class="fragment"><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;{</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="comment">// coordinate of the boundary of the voxel grid</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  Eigen::Vector4f start = origin + t_min * direction;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="comment">// i,j,k coordinate of the voxel were the ray enters the voxel grid</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  Eigen::Vector3i ijk = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a4cf0240b7785108db75da2ad64523c2e">getGridCoordinatesRound</a> (start[0], start[1], start[2]);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="comment">// steps in which direction we have to travel in the voxel grid</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordtype">int</span> step_x, step_y, step_z;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="comment">// centroid coordinate of the entry voxel</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  Eigen::Vector4f voxel_max = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#afa409d3f099e4c71d922f4999887f787">getCentroidCoordinate</a> (ijk);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="keywordflow">if</span> (direction[0] &gt;= 0)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    voxel_max[0] += <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[0] * 0.5f;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    step_x = 1;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    voxel_max[0] -= <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[0] * 0.5f;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    step_x = -1;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="keywordflow">if</span> (direction[1] &gt;= 0)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  {</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    voxel_max[1] += <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[1] * 0.5f;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    step_y = 1;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  }</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    voxel_max[1] -= <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[1] * 0.5f;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    step_y = -1;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordflow">if</span> (direction[2] &gt;= 0)</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  {</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    voxel_max[2] += <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[2] * 0.5f;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    step_z = 1;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  }</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    voxel_max[2] -= <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[2] * 0.5f;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    step_z = -1;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordtype">float</span> t_max_x = t_min + (voxel_max[0] - start[0]) / direction[0];</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="keywordtype">float</span> t_max_y = t_min + (voxel_max[1] - start[1]) / direction[1];</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="keywordtype">float</span> t_max_z = t_min + (voxel_max[2] - start[2]) / direction[2];</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;     </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keywordtype">float</span> t_delta_x = <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[0] / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (fabs (direction[0]));</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keywordtype">float</span> t_delta_y = <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[1] / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (fabs (direction[1]));</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <span class="keywordtype">float</span> t_delta_z = <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[2] / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (fabs (direction[2]));</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="comment">// index of the point in the point cloud</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keywordtype">int</span> index;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  <span class="keywordflow">while</span> ( (ijk[0] &lt; max_b_[0]+1) &amp;&amp; (ijk[0] &gt;= <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0]) &amp;&amp; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;          (ijk[1] &lt; max_b_[1]+1) &amp;&amp; (ijk[1] &gt;= <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1]) &amp;&amp; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          (ijk[2] &lt; max_b_[2]+1) &amp;&amp; (ijk[2] &gt;= <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2]) )</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  {</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    <span class="comment">// check if we reached target voxel</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="keywordflow">if</span> (ijk[0] == target_voxel[0] &amp;&amp; ijk[1] == target_voxel[1] &amp;&amp; ijk[2] == target_voxel[2])</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    <span class="comment">// check if voxel is occupied, if yes return 1 for occluded</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    index = this-&gt;<a class="code" href="classpcl_1_1_voxel_grid.html#a1343f669f040cee74afcf0bdafef68ee">getCentroidIndexAt</a> (ijk);</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="keywordflow">if</span> (index != -1)</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="comment">// estimate next voxel</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keywordflow">if</span>(t_max_x &lt;= t_max_y &amp;&amp; t_max_x &lt;= t_max_z)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      t_max_x += t_delta_x;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      ijk[0] += step_x;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    }</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span>(t_max_y &lt;= t_max_z &amp;&amp; t_max_y &lt;= t_max_x)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      t_max_y += t_delta_y;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      ijk[1] += step_y;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    }</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    {</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      t_max_z += t_delta_z;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      ijk[2] += step_z;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    }</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  }</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a4cf0240b7785108db75da2ad64523c2e"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a4cf0240b7785108db75da2ad64523c2e">pcl::VoxelGridOcclusionEstimation::getGridCoordinatesRound</a></div><div class="ttdeci">Eigen::Vector3i getGridCoordinatesRound(float x, float y, float z)</div><div class="ttdoc">Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.h:228</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a04dc2590897e65a6412eb9bda5eeb3d3">&#9670;&nbsp;</a></span>rayTraversal() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::rayTraversal </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>out_ray</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3i &amp;&#160;</td>
          <td class="paramname"><em>target_voxel</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>origin</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>direction</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>t_min</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Returns the state of the target voxel (0 = visible, 1 = occupied) and the voxels penetrated by the ray unsing a ray traversal algorithm. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">out_ray</td><td>The voxels penetrated by the ray in (i, j, k) coordinates </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_voxel</td><td>The target voxel in the voxel grid with coordinate (i, j, k). </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">origin</td><td>The sensor origin. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">direction</td><td>The sensor orientation </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">t_min</td><td>The scaling value (tmin). </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>The estimated voxel state. </dd></dl>
<div class="fragment"><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;{</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <span class="comment">// reserve space for the ray vector</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  <span class="keywordtype">int</span> reserve_size = div_b_.maxCoeff () * div_b_.maxCoeff ();</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  out_ray.reserve (reserve_size);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  <span class="comment">// coordinate of the boundary of the voxel grid</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  Eigen::Vector4f start = origin + t_min * direction;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="comment">// i,j,k coordinate of the voxel were the ray enters the voxel grid</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  Eigen::Vector3i ijk = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a4cf0240b7785108db75da2ad64523c2e">getGridCoordinatesRound</a> (start[0], start[1], start[2]);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  <span class="comment">//Eigen::Vector3i ijk = this-&gt;getGridCoordinates (start_x, start_y, start_z);</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  <span class="comment">// steps in which direction we have to travel in the voxel grid</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  <span class="keywordtype">int</span> step_x, step_y, step_z;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  <span class="comment">// centroid coordinate of the entry voxel</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  Eigen::Vector4f voxel_max = <a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#afa409d3f099e4c71d922f4999887f787">getCentroidCoordinate</a> (ijk);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  <span class="keywordflow">if</span> (direction[0] &gt;= 0)</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  {</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    voxel_max[0] += <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[0] * 0.5f;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    step_x = 1;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  }</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    voxel_max[0] -= <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[0] * 0.5f;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    step_x = -1;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  }</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="keywordflow">if</span> (direction[1] &gt;= 0)</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  {</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    voxel_max[1] += <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[1] * 0.5f;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    step_y = 1;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  }</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  {</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    voxel_max[1] -= <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[1] * 0.5f;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    step_y = -1;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  }</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  <span class="keywordflow">if</span> (direction[2] &gt;= 0)</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  {</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    voxel_max[2] += <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[2] * 0.5f;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    step_z = 1;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  }</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  {</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    voxel_max[2] -= <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[2] * 0.5f;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    step_z = -1;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  }</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  <span class="keywordtype">float</span> t_max_x = t_min + (voxel_max[0] - start[0]) / direction[0];</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="keywordtype">float</span> t_max_y = t_min + (voxel_max[1] - start[1]) / direction[1];</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="keywordtype">float</span> t_max_z = t_min + (voxel_max[2] - start[2]) / direction[2];</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;     </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  <span class="keywordtype">float</span> t_delta_x = <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[0] / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (fabs (direction[0]));</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  <span class="keywordtype">float</span> t_delta_y = <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[1] / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (fabs (direction[1]));</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  <span class="keywordtype">float</span> t_delta_z = <a class="code" href="classpcl_1_1_voxel_grid.html#ad6e7aa7d90c1b75ab43d38c48dcff799">leaf_size_</a>[2] / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (fabs (direction[2]));</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  <span class="comment">// the index of the cloud (-1 if empty)</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  <span class="keywordtype">int</span> index = -1;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="keywordtype">int</span> result = 0;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  <span class="keywordflow">while</span> ( (ijk[0] &lt; max_b_[0]+1) &amp;&amp; (ijk[0] &gt;= <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[0]) &amp;&amp; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;          (ijk[1] &lt; max_b_[1]+1) &amp;&amp; (ijk[1] &gt;= <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[1]) &amp;&amp; </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;          (ijk[2] &lt; max_b_[2]+1) &amp;&amp; (ijk[2] &gt;= <a class="code" href="classpcl_1_1_voxel_grid.html#aa920d3e9fa0d03643423ade34f6ec986">min_b_</a>[2]) )</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  {</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    <span class="comment">// add voxel to ray</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    out_ray.push_back (ijk);</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    <span class="comment">// check if we reached target voxel</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <span class="keywordflow">if</span> (ijk[0] == target_voxel[0] &amp;&amp; ijk[1] == target_voxel[1] &amp;&amp; ijk[2] == target_voxel[2])</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    <span class="comment">// check if voxel is occupied</span></div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    index = this-&gt;<a class="code" href="classpcl_1_1_voxel_grid.html#a1343f669f040cee74afcf0bdafef68ee">getCentroidIndexAt</a> (ijk);</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    <span class="keywordflow">if</span> (index != -1)</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      result = 1;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    <span class="comment">// estimate next voxel</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    <span class="keywordflow">if</span>(t_max_x &lt;= t_max_y &amp;&amp; t_max_x &lt;= t_max_z)</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    {</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      t_max_x += t_delta_x;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      ijk[0] += step_x;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    }</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span>(t_max_y &lt;= t_max_z &amp;&amp; t_max_y &lt;= t_max_x)</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    {</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;      t_max_y += t_delta_y;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;      ijk[1] += step_y;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    }</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    {</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      t_max_z += t_delta_z;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      ijk[2] += step_z;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    }</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  }</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a3fa600274aee939eba0e317dcbd6d6cf">&#9670;&nbsp;</a></span>round()</h2>

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<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="classpcl_1_1_voxel_grid_occlusion_estimation.html">pcl::VoxelGridOcclusionEstimation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::round </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>d</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
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<p>Returns a rounded value. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">d</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>rounded value </dd></dl>
<div class="fragment"><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (floor (d + 0.5f));</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>filters/include/pcl/filters/<a class="el" href="voxel__grid__occlusion__estimation_8h_source.html">voxel_grid_occlusion_estimation.h</a></li>
<li>filters/include/pcl/filters/impl/<a class="el" href="voxel__grid__occlusion__estimation_8hpp_source.html">voxel_grid_occlusion_estimation.hpp</a></li>
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